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Well, in the absence of an emulator:
Pull out a big sheet of plywood.
Add one RC, generous numbers of relays, speed controllers, some breakers, fuses and wire. Ducktape and sheetrock screws are a godsend here
Strap some motors, pistons, servos and other doohickeys as needed. Duck tape and ziptie as needed.
Open the breaker, download program, play with controls. Rinse wash and repeat as needed.
This is really only useful during the build, before all they toys end up on the 'bot, or if you have spares lying around. The advantage of this is that it gives your electrical guys a chance to wire some stuff before the 'bot is done, and a chance for you to see if motors are going to spaz out as soon as you toss the switch. At the very least it gives the sparky guys something to do while the 'bot is being made.
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